The invention discloses a stable and firm wheel type obstacle crossing robot, and relates to the field of wheel type obstacle crossing robots, the stable and firm wheel type obstacle crossing robot comprises a bottom plate and a mounting plate, the center of the top of the bottom plate is fixedly connected with a mounting frame, and obstacle crossing mechanisms are mounted on the two sides of the bottom plate. In the walking process, when a mounting plate is inclined, the system is balanced through three stabilizing mechanisms, the crank connected with the three servo motors in independent operation is driven to rotate, the rotation of the crank generates circular motion, acting force is applied to a fixing rod, and the force is transmitted to a first transmission rod through a second connecting block; the servo motor is driven to move around the first supporting frame, the movement drives the first connecting frame and the second connecting frame to move synchronously, then the second transmission rod transmits force to the mounting plate through the second supporting frame, it is ensured that the monitoring effect of a sensor mounted on the mounting plate is not affected, and the system can quickly respond to the inclination trend and adjust output power of the servo motor. Necessary compensation is achieved, and it is ensured that the mounting plate rapidly returns to the level.
本发明公开了一种稳定牢固的轮式越障机器人,涉及轮式越障机器人领域,包括底板和安装板,底板顶部中央固定连接有安装架,底板两侧均安装有越障机构。本发明,在行走过程中,当安装板出现歪斜时,系统通过三个稳定机构进行平衡,依赖于三个独立运行的伺服电机驱动连接的曲柄旋转,曲柄的转动产生圆周运动,施加作用力于固定杆,并通过第二连接块将力传递至第一传动杆,使其围绕第一支撑架活动,此活动带动第一连接架和第二连接架同步运动,进而使第二传动杆通过第二支撑架将力传递到安装板,确保安装于安装板上的传感器监测效果不受影响,系统能快速响应倾斜趋势,调整伺服电机的输出动力,实现必要的补偿,确保安装板快速回归水平。
Stable and firm wheeled obstacle crossing robot
一种稳定牢固的轮式越障机器人
2024-12-03
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Wheeled obstacle-crossing robot with pitching vehicle body
European Patent Office | 2020
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